Cleaning device and method for operating a cleaning device

Abstract

A self-propelled cleaning device and a method for operating a self-propelled cleaning device for cleaning a surface are proposed. An opening is formed between the cleaning device and the surface, directed in the direction of travel. This opening can be reduced in size to move a movable object on the surface. To reduce the size of the opening, the cleaning device can have a sliding section that can be automatically lowered to move the movable object. Alternatively, the cleaning device can change its orientation so that, instead of the opening, a lower sliding section of the cleaning device points in the direction of travel to move the movable object.

Description

[0001] The present invention relates to a method for operating a cleaning device according to the preamble of claim 1 and a cleaning device according to the preamble of claim 11.

[0002] Self-propelled or self-driving cleaning devices are known from the prior art, in particular as (semi-)autonomous vacuum cleaner robots, mopping robots or vacuum-mop robots for cleaning surfaces such as floors.

[0003] Such cleaning devices typically navigate autonomously in a known or mapped environment, or in an unknown environment.

[0004] Particularly problematic are objects lying on the surface to be cleaned – hereinafter referred to as the cleaning area – that pose a potential obstacle to the cleaning equipment. These could include, for example, clothing, toys, (temporarily placed) bags or boxes, or similar items.

[0005] Self-propelled cleaning machines are typically designed to detect such objects and navigate around them during cleaning. A disadvantage of this is that the area beneath and immediately surrounding the object remains uncleaned. Furthermore, faulty detection can lead to problems. For example, undetected objects may be run over by the cleaning machine, potentially damaging or blocking it, or at least reducing its cleaning performance. Conversely, objects incorrectly identified as requiring a detour—such as a large clump of dirt that should be picked up by the cleaning machine, or a baseboard that could be driven over—result in a smaller cleaned area or a poorer cleaning result.

[0006] The present invention is based on the objective of providing an improved method for operating a cleaning device and an improved cleaning device, preferably wherein reliable and / or thorough cleaning is achieved and / or improved handling of objects located on a cleaning surface is enabled.

[0007] The problem underlying the invention is solved by the method according to claim 1 or the cleaning device according to claim 11. Advantageous embodiments are the subject of the dependent claims.

[0008] The present invention relates to a preferably computer-implemented method for operating a cleaning device. Preferably, the proposed method, in particular individual or all process steps of the proposed method, are carried out automatically by means of the cleaning device, in particular by means of suitable data processing and control of the cleaning device, such as a data processing unit and / or a control unit. However, it is also possible that individual process steps are carried out by user input or the like.

[0009] A cleaning device within the meaning of the present invention is preferably a (semi-)autonomous or self-driving robotic vacuum cleaner, mopping robot, or vacuum-mop robot. In particular, a cleaning device within the meaning of the present invention is designed to clean a surface automatically or (semi-)autonomously during a cleaning process. However, the cleaning device within the meaning of the present invention can also be any other device for cleaning, processing, and / or maintaining surfaces, especially floors. For example, polishing devices or robots, window cleaning devices or robots, or lawnmowers or robots are also generally to be understood as cleaning devices within the meaning of the present invention.

[0010] Preferably, a cleaning device according to the present invention is configured to navigate autonomously in an environment. For this purpose, a cleaning device according to the present invention typically preferably comprises sensors, a data processing unit, and / or a control unit.

[0011] To enable the collection of material, an opening is formed between the cleaning device and the cleaning surface, positioned at the front and pointing in the direction of travel or forward. In particular, a front section of the cleaning device is spaced away from the cleaning surface so that the material can be collected by the cleaning device. The cleaning device is preferably designed accordingly.

[0012] The direction of travel within the meaning of the present invention is the direction in which the cleaning device moves during cleaning. This is usually (when traveling straight ahead) the cleaning device moving forward. However, it is also possible for the cleaning device to move temporarily backward or sideways.

[0013] Terms such as "front," "front," "front side," and the like are preferably defined by the forward direction and / or the opening direction. The "front side" of the cleaning device is therefore preferably the side that forms the opening, or that is located at the front in the forward direction, or that faces the material to be vacuumed during cleaning. The "rear side" or back side is correspondingly the side of the cleaning device facing away from the front side or the material to be vacuumed.

[0014] The opening is specifically designed so that the cleaning device can move over objects or the material being vacuumed, such as dirt particles, that are smaller than the opening, in order to pick them up, especially by vacuuming them up. Accordingly, the opening direction is usually in the direction of travel.

[0015] The proposed method relates to the operation of a self-propelled cleaning device for cleaning a surface, in which the cleaning device detects an object on the surface. Preferably, the object detection occurs while the cleaning device is moving (automatically) across the surface, particularly for cleaning purposes. However, it is also generally possible for the object to be detected when the cleaning device is stationary.

[0016] According to one aspect of the present invention, in the proposed method a movable object is detected - preferably automatically - or it is determined that the object is a movable object - hereinafter referred to as the moving object - and in particular, before collision with the moving object, the opening is automatically reduced in size in order to move the moving object.

[0017] The proposed method thus enables improved handling of objects, eliminating the need to necessarily drive around them. Advantageously, the opening is reduced in size, preventing the object from being driven over or picked up / suctioned, or allowing it to be moved.

[0018] The variable or reducible opening allows the cleaning device to be used advantageously with a larger opening during normal cleaning processes in order to pick up / vacuum larger dirt particles, while it can be used with a smaller opening for moving an object.

[0019] Instead of driving around an object, leaving the area beneath it uncleaned, the cleaning device, using the proposed method, can move the object to another location, for example, an area that has already been cleaned. The area previously blocked or occupied by the object can then also be cleaned. This can be done while the object is being moved, or the cleaning device can return to the previously blocked or occupied area for cleaning after moving the object. The proposed method thus achieves improved cleaning and / or increases the cleaned area of ​​the overall cleaning surface.

[0020] Another advantage of the proposed method is that users no longer need to tidy up moving objects themselves. Instead, the cleaning device can be used to clear the cleaning area. For example, the cleaning device can move all moving objects to the same and / or a predefined location, where they can then be conveniently put away by the user.

[0021] Preferably, to reduce the size of the opening, its clear height is reduced and / or a part of the cleaning device, in particular a sliding part of the cleaning device, is lowered.

[0022] According to a further aspect of the present invention, which can also be implemented independently, the cleaning device changes its orientation when or after determining that an object is a sliding object, so that - instead of the opening - a lower sliding section of the cleaning device points in the direction of travel.

[0023] "Lower-lying" here preferably refers to the opening or the section of the cleaning device that defines the opening. The sliding section is therefore lower or has a smaller distance from the cleaning surface than the section of the cleaning device that defines the opening.

[0024] In other words, the cleaning device changes its orientation so that the opening no longer points in the direction of travel or towards the object being moved, but rather the sliding section does. The cleaning device therefore moves forward, at least temporarily or for the duration of the sliding process, with the sliding section leading the way.

[0025] This also results in improved handling of objects, where objects do not necessarily have to be driven around, by changing the position of the opening relative to the direction of travel or to the object being moved, so that driving over or picking up / vacuuming the object being moved is avoided or moving the object being moved is made possible.

[0026] The sliding section at the rear of the cleaning device is particularly advantageous. The cleaning device then moves backwards to move the object being cleaned.

[0027] Changing the orientation or shifting the opening using a (lower) sliding section is preferably an alternative solution to reducing the size of the opening. In other words, this eliminates the need to reduce the size of the opening and / or to use a corresponding mechanism for reducing the size of the opening on the cleaning device.

[0028] However, it is possible and can be advantageous to implement both aspects, in particular to design the cleaning device with both a reducible opening and a deeper sliding section. For example, depending on the object being moved, especially its shape, size and / or weight, moving could be achieved either by means of a reduced opening or by changing its orientation / using a deeper sliding section, particularly if one moving technique is better suited to a particular object than the other.

[0029] The determination of whether an object is a moveable object is preferably done automatically, but can also be done by user input if necessary.

[0030] Particularly preferably, the determination of whether an object is a movable object is carried out electronically and / or with a distance between the cleaning device and the object. Specifically, the object can be detected at a distance from the cleaning device using one or more optical, acoustic, and / or other distance-detecting sensors, and based on the sensor data, it can be determined, particularly by the cleaning device's data processing unit, whether the object is a movable object. This enables particularly efficient object handling, where the cleaning device can decide from a distance whether to avoid the object or move it.

[0031] The automatic determination of whether an object is suitable for movement can be achieved through geometric analysis of the object and, for example, based on an object parameter, particularly the determined size of the object. Movement is only initiated or occurs if the object parameter or the determined object size is below a predetermined threshold and / or above a specific threshold, or if the object is neither too large nor too small. This allows for a simple (rough) object identification. Objects that are too large are usually too heavy to be moved, while objects that are too small are typically dirt to be picked up.

[0032] For a more precise object identification, it can also be provided that the object is (automatically) identified or classified, for example, using AI. Based on this identification or classification, it is then determined whether the object is a displacement object.

[0033] Preferably, a list of movable and / or immovable objects and / or object classes is stored in a memory or database, which the cleaning device can access. Such a list could, for example, include furniture, such as chairs, as immovable and / or clothing, such as socks, as movable.

[0034] Alternatively or additionally, user input can be provided to determine whether an object is a movable object, for example, if the automatic determination fails. Preferably, the cleaning device then sends a request to the user, in particular a communication device such as the user's smartphone, asking whether the detected object should be moved. Preferably, an image of the object taken by the cleaning device is sent along with the request.

[0035] Alternatively or additionally, the determination of whether an object is a movable object can be made mechanically and / or by contact with the object. For this purpose, the cleaning device preferably has a mechanical sensor or bumper that can determine whether the object is a movable object when the cleaning device moves against it. The mechanical sensor or bumper is particularly preferably designed as a push button.

[0036] Preferably, the object is defined as movable if the mechanical sensor or bumper is not triggered when the cleaning device (particularly at a predetermined speed) moves towards the object. If the mechanical sensor or bumper is triggered, the object is preferably defined as non-movable, or the device is directed to move around the object.

[0037] If the object is too heavy to be moved, the mechanical sensor or bumper is triggered accordingly. This allows for simple object identification based on its weight.

[0038] Particularly preferably, the object is identified by touch in addition to the identification by distance. This generally allows objects to be identified early on, without the cleaning device having to collide with them. Advantageously, however, an alternative identification by touch is provided if the object could not be reliably identified as a target to be avoided from a distance. Furthermore, if an object is incorrectly identified as a target to be moved from a distance, the moving process can still be aborted if the subsequent identification by touch reveals that the object is not, in fact, a target to be moved.

[0039] The present invention also relates to a cleaning device designed to carry out the proposed method and / or comprising a sliding part that can be automatically lowered to move a sliding object by means of the sliding part. In this way, corresponding advantages are realized.

[0040] Preferably, the sliding element is arranged behind a bumper of the cleaning device. In this way, the cleaning device, and in particular the sliding element, can be protected from collisions by the bumper and / or the bumper can be used as a mechanical sensor or probe for detecting moving objects. However, other solutions are also possible. For example, the bumper or a part of it could be retractable or form the sliding element itself. It is also possible for the sliding element to be arranged in front of the bumper when retracted and / or to be designed like an excavator bucket.

[0041] Preferably, the sliding part is arranged directly behind the bumper and / or between the bumper and a base plate or a (main) housing of the cleaning device. However, it is also possible for the sliding part to be integrated into the base plate or to form part of the base plate.

[0042] The sliding part preferably has a flexible section which, in the normal operating position of the cleaning device or during cleaning, faces the cleaning surface or defines the opening between the cleaning device and the cleaning surface. The flexible section is preferably a sealing lip, a bristle strip, or a comb.

[0043] The flexible section preferably allows certain objects, especially larger dirt particles, to pass through the sliding part or be picked up, particularly vacuumed, by the cleaning device, even when the sliding part is lowered. Such objects are preferably small enough to fit under or—especially in the case of combs or bristle strips—between the sliding part, possibly by bending the flexible section accordingly. This advantageously allows larger dirt particles to be picked up even when the sliding part is lowered, thus improving cleaning.

[0044] Furthermore, the flexible section allows the cleaning device to traverse uneven surfaces even with the sliding section lowered. For example, the flexible section enables the cleaning device to move over baseboards even with the sliding section lowered.

[0045] The sliding part is preferably slidably guided on the cleaning device, particularly on a rigid section of the sliding part. Preferably, the rigid section is inflexible or harder than the flexible section. This allows the sliding part to be raised and lowered with particular precision. Specifically, a precise opening size or a defined distance between the sliding part and the cleaning surface can be set in both the raised and lowered positions.

[0046] The sliding part is preferably held in its raised position under spring tension. When the holder is released, the spring force allows the sliding part to be moved into the lowered position particularly easily and / or quickly.

[0047] Preferably, the sliding element is held in the raised position, or raised into the raised position, by means of a cable pull with a motor drive. This provides a particularly efficient and simple mechanism for raising and lowering the sliding element. However, other solutions are also possible, for example, a linear drive with a spindle motor.

[0048] Alternatively or additionally, raising / lowering can also be achieved by a rotatably mounted sliding element. Preferably, in this case, the sliding element can be folded up into the raised position or down into the lowered position.

[0049] The present invention further relates to a computer program product comprising commands that cause the computer or the cleaning device to execute the program, or to carry out the method or individual process steps described herein.

[0050] Finally, the present invention relates to a computer-readable storage medium comprising the computer program product and / or instructions which, when executed by a computer or the cleaning device, cause it or the latter to execute the method and / or individual process steps described herein.

[0051] The aforementioned aspects, features and / or process steps or variants of the present invention, as well as the aspects, features and process steps or variants of the present invention resulting from the claims and the following description, can in principle be implemented independently of one another, but also in any combination or sequence.

[0052] Further aspects, advantages, features, properties, and advantageous embodiments of the present invention will become apparent from the claims and the following description of preferred embodiments with reference to the figures. These figures are shown schematically and not to scale. Fig. 1 a perspective view of a proposed cleaning device; Fig. 2A a side view of a front area of ​​the cleaning device with a sliding part according to a first embodiment in a raised position; Fig. 2B the side view according to Fig. 2A with lowered sliding part and a sliding object; Fig. 2C the side view according to Fig. 2A with lowered sliding section and an object to be picked up; Fig. 2D the side view according to Fig. 2A with lowered sliding section and an object to be navigated around; Fig. 3 a front view of the sliding section according to Fig. 2A Fig. 4 a front view of a second embodiment of the sliding part; Fig. 5 a side view of a front area of ​​the cleaning device with a sliding part according to a third embodiment; Fig. 6 a representation of a cable pull with motor drive for the sliding part; Fig. 7 a representation of a linear drive with spindle motor for the sliding part; Fig. 8 a flowchart of a proposed method for operating the cleaning device; and Figs. 9A-D four top views of the cleaning device illustrating a sequence of process steps.

[0053] In the figures, which are partly not to scale and only schematic, the same reference symbols are used for identical, similar or comparable parts and components, whereby corresponding or comparable properties or advantages are achieved, even if repetition is omitted.

[0054] For better clarity, not all identical parts and components within a figure are marked with a reference symbol.

[0055] Fig. 1 Figure 1 shows a system with a proposed self-propelled cleaning device 1, an optional external communication device E and an optional external database D.

[0056] The cleaning device 1 is preferably designed as a vacuum cleaner robot, mopping robot or combined vacuuming and mopping robot, or is designed to automatically / autonomously cover a cleaning surface F during one or more cleaning processes in order to clean the cleaning surface F, in particular to vacuum and / or mop.

[0057] In particular, the cleaning device 1 is designed to vacuum or wipe up material or air and / or a liquid cleaning agent together with material from the cleaning surface F.

[0058] A cleaning process within the meaning of the present invention is preferably a process in which the cleaning surface F is cleaned by means of the cleaning device 1 and / or in which the cleaning device 1 cleans a cleaning surface F, in particular by vacuuming and / or wiping.

[0059] Preferably, the cleaning area F is formed by a floor. However, it is also possible that another surface, such as a window, a facade, or a lawn, has or forms the cleaning area F.

[0060] The cleaning device 1 has a housing 2, several, in this case two, electrically driven wheels 3, a communication device 4, a data processing device 5, a control device 6 and / or one or more sensors 8, 9.

[0061] The cleaning device 1 can preferably orient and move itself automatically / autonomously within an environment or on the cleaning surface F, in particular by means of the wheels 3, the data processing device 5, the control device 6 and / or the sensor(s) 8, 9.

[0062] The cleaning device 1 preferably has an elongated or slot-like suction opening 7 on an underside or on a side facing the cleaning surface F, through which material to be suctioned and / or cleaning agent applied to the cleaning surface F can be picked up or sucked in.

[0063] Optionally, the cleaning device 1 can be equipped with a cleaning roller, in particular a rotatable one (not shown), wherein the cleaning roller is arranged in the suction opening 7.

[0064] The cleaning device 1 is preferably equipped with an electrically driven blower (not shown) and a collection container (not shown) for the vacuumed material.

[0065] During cleaning operation or a cleaning process, the blower can be used to draw material or air and / or cleaning agent together with material from the surroundings or from the cleaning surface F into the cleaning device 1, in particular into the container, via this suction opening 7 and the optional cleaning roller.

[0066] In the case of a robot vacuum cleaner, the collected material is separated from the air, for example by means of a filter (not shown), whereby the (cleaned) air can then be released back into the environment.

[0067] However, it is also possible that the cleaning device 1 does not have a suction opening 7 or a fan, for example, if the cleaning device 1 is a pure mopping robot without a vacuuming function. In this case, the cleaning device 1 preferably has the usual features of a mopping robot, such as a liquid container and a mopping cloth facing the cleaning surface F (not shown). In the case of a combined vacuuming / mopping robot, the usual features of both a vacuuming robot and a mopping robot are preferably provided.

[0068] The cleaning device 1 is preferably equipped with a battery (not shown) to supply all electrically operated components of the cleaning device 1 with electrical energy.

[0069] The control device 6 is preferably designed to control the wheels 3 or electric motors (not shown) of the cleaning device 1, the blower of the cleaning device 1 and / or the optional cleaning roller of the cleaning device 1, in particular to activate and / or deactivate them, and / or to adjust the power, preferably at least partially automatically.

[0070] The (usual) direction of travel R of the cleaning device 1 is in Fig. 1 represented by an arrow. In principle, it is also possible for the cleaning device 1 to (briefly) move backwards, for example to navigate out of a corner. In this case, the direction of travel R points in the direction indicated by the arrow. Fig. 1 opposite direction.

[0071] The cleaning device 1 is preferably equipped with one or more sensors, in the illustrated example two sensors 8, 9, to detect the environment, in particular objects such as obstacles, in the environment and / or to determine the (relative) position of the cleaning device 1 in the environment, in particular by measuring the distance between the cleaning device 1 and reference points or objects in the environment.

[0072] The sensors 8, 9 shown are preferably designed as distance sensors or for measuring the distance to objects in the environment.

[0073] The (distance) sensor 8 or 9 is preferably designed as a laser distance sensor, in particular a lidar sensor, PMD sensor or time-of-flight sensor or radar sensor, or as an ultrasonic sensor.

[0074] In the illustrated embodiment, the cleaning device 1 has several, here two different, (distance) sensors 8 and 9. However, other solutions are also possible, for example, in which the cleaning device 1 is equipped with only one (distance) sensor 8 or 9.

[0075] Individual or multiple aspects, advantages, features, properties and process steps that are described only in connection with one of the sensors 8 or 9 are preferably also provided for the other sensor 8 or 9, so that corresponding designs also apply to the other sensor 8 or 9.

[0076] Preferably the cleaning device 1 has a (first) sensor 8, for example wherein the sensor 8 is oriented in the forward direction or (usual) direction of travel R or is designed to detect objects located in front of the cleaning device 1 in the direction of travel R or to measure the distance of the cleaning device 1 from objects located in front of the cleaning device 1 in the direction of travel R.

[0077] Preferably, the sensor 8 is arranged on a front side of the cleaning device 1, in particular centrally and / or inside the housing 2, as shown in Fig. 1 depicted.

[0078] The front of the cleaning device 1 is preferably understood to be the side of the cleaning device 1 that is (usually) oriented in the direction of travel R, or whose surface normal points at least substantially in the direction of travel R. The direction of travel R is understood here to be the direction in which the cleaning device 1 usually moves during normal operation, i.e., the forward direction of the cleaning device 1. An exception occurs when the cleaning device 1 is moving backward, in which case the front of the cleaning device 1 is oriented opposite to the reverse direction of travel.

[0079] The back of the cleaning device 1 is accordingly the side opposite the front or the side (usually) facing away from the direction of travel R or the side whose surface normal points at least substantially against the direction of travel R.

[0080] Terms such as "front", "back", "in front", "behind" etc. preferably refer to the usual orientation of the cleaning device 1 when moving forward.

[0081] In the illustration example according to Fig. 1 The front is essentially straight and / or the back is curved or rounded. However, other solutions are also possible. For example, the front can also be curved / rounded, such as in the case of a circular cleaning device 1.

[0082] The intake opening 7 is preferably located in the front area of ​​the cleaning device 1. Consequently, the front can also be considered or defined as the side that is closer to the intake opening 7.

[0083] In addition to or as an alternative to the (first) sensor 8, the cleaning device 1 has a (second) sensor 9, preferably wherein the (second) sensor 9 is arranged on a top side or on the side of the cleaning device 1 facing away from the cleaning surface F.

[0084] In the illustrated embodiment, the (first) sensor 8 is preferably configured as a PMD sensor or time-of-flight sensor, and the (second) sensor 9 as a lidar sensor, particularly preferably as a 2D lidar sensor. However, other solutions are also possible.

[0085] The sensor 9 is preferably designed to scan the environment of the cleaning device 1 and / or to detect objects in the environment of the cleaning device 1, in particular laterally or horizontally in front of, behind or next to the cleaning device 1, or to measure the distance of the cleaning device 1 to objects in the environment.

[0086] The sensor 9 is preferably aligned at least substantially horizontally or parallel to the cleaning surface F. In particular, the sensor 9 is designed to measure distances in all horizontal directions or around the cleaning device 1 in a 360° arc.

[0087] Accordingly, each distance measured by sensor 9 is preferably assigned a direction, or each distance measured by distance sensor 9 is additionally provided with directional information. The direction is preferably specified relative to the orientation of the cleaning device 1 and / or in the direction of travel R of the cleaning device 1. In particular, the direction represents an angle or angular position relative to the orientation or direction of travel R of the cleaning device 1.

[0088] Particularly preferably, the sensor 9 comprises a laser that rotates or is rotatable through 360° about its vertical axis. Preferably, the sensor 9 is configured such that the laser beam rotates through 360° about the vertical axis several times per second, for example five times.

[0089] The sensor 8, 9 preferably has a detection range within which the sensor 8, 9 can detect objects or measure distances to objects, in particular with an uncertainty of less than 0.1 m or 0.01 m. Objects located outside the detection range cannot be detected by the sensor 8, 9 or can only be detected with a greater uncertainty, for example with an uncertainty of more than 0.1 m or 0.5 m.

[0090] Preferably, the detection area of ​​the first sensor 8 opens forwards from the first sensor 8 or the cleaning device 1, or in the usual direction of travel R, in particular in a conical or pyramidal shape.

[0091] The second sensor 9 preferably has a circular or cylindrical detection area.

[0092] Preferably, the detection ranges of sensors 8 and 9 differ from each other and / or the detection ranges of sensors 8 and 9 only partially overlap.

[0093] Additionally, the cleaning device 1 may have one or more sensors, in particular inertial sensors, for measuring its own movement, especially acceleration and / or speed (not shown).

[0094] The inertial sensor can be designed as an inertial measurement unit (IMU), accelerometer or gyroscope and / or to measure or determine the acceleration, velocity, force and / or gyroscope rate of the movement of the cleaning device 1 and / or the orientation and / or a change in the direction of travel R of the cleaning device 1.

[0095] Optionally, the cleaning device 1 is equipped with an odometry sensor (not shown) to determine the position and / or orientation of the cleaning device 1 based on the rotation of the wheels 3.

[0096] Preferably, the cleaning device 1 locates itself in the environment or on the cleaning surface F, or determines its position, in particular by means of sensors 8, 9 and optionally other sensors. For localization or position determination, the distance to reference points or objects, such as a wall, is preferably measured by means of the sensors, in particular in two directions that are orthogonal to each other.

[0097] The cleaning device 1 preferably has a bumper 10.

[0098] The bumper 10 is provided at the front of the cleaning device 1 or forms the front or part thereof. In particular, the bumper 10 is attached to the housing 2 and is positioned in front of the housing 2 in the direction of travel R. In this sense, the front of the cleaning device 1 can also be defined as the side that has the bumper 10.

[0099] The bumper 10 is preferably designed to absorb, dampen or cushion collisions of the cleaning device 1 with objects.

[0100] The bumper is preferably spring-mounted (10). However, other damping methods are also conceivable.

[0101] The bumper 10 is preferably movable or movably mounted, preferably against a spring or spring force, in particular at least substantially in a direction parallel to the cleaning surface F and / or against the direction of travel R.

[0102] When the cleaning device 1 collides with a (heavy) object, such as a wall, the bumper 10 is preferably moved by the impact against the direction of travel R or relative to the housing 2, particularly against a (spring) force. In this way, forces resulting from the collision are diverted or absorbed by the bumper 10. In particular, in a frontal collision, only reduced forces act on the housing 2 or other parts of the cleaning device 1 due to the bumper 10.

[0103] Preferably, the bumper 10 returns automatically to its starting position (after a collision), in particular by means of the spring force.

[0104] The bumper 10 is preferably configured as a push button or mechanical sensor. In particular, the movement or triggering of the bumper 10 can be registered / recorded (as a measured value or measurement result). Either only the triggering itself can be recorded, or more precise data, such as the force acting on the bumper 10, can also be determined.

[0105] The data processing unit 5 is preferably configured to evaluate the measured values ​​obtained by the sensors and / or to transmit them as input values ​​to the control unit 6. The wheels 3 are then controlled by the control unit 6. In this way, the cleaning device 1 can navigate automatically / autonomously within its surroundings or on the cleaning surface F.

[0106] The data processing device 5 preferably has at least one processor and at least one memory, in particular a non-volatile memory, such as an optical and / or magnetic disk, and / or a volatile memory, such as a working memory or RAM.

[0107] Optionally, the cleaning device 1, in particular the data processing unit 5, is equipped with a database D or is connected or connectable to a database, preferably wherein the database contains one or more entries, information, values, characteristic values ​​and / or parameters for evaluating the measured values. In the illustration example according to Fig. 1 Database D is represented as an external database. However, it is also possible that database D is located within the cleaning device 1, specifically in a memory of the data processing unit 5. It is also possible that multiple databases D are provided, in particular an internal and an external database D.

[0108] The communication device 4 allows the cleaning device 1 to be (technically) coupled with one or more (external) devices and / or facilities, in particular a base station, a mobile device or communication device E, such as a mobile phone, a central facility, such as a server, and / or an external database D.

[0109] In particular, the communication device 4 enables a wireless data connection between the cleaning device 1 and one or more (external) devices or facilities in order to determine a signal and / or information, in particular concerning the operation and / or status of the cleaning device 1, or to exchange it between the cleaning device 1 and the device(s) and / or facility(ies), whereby the data exchange or signal transmission can take place directly or indirectly.

[0110] A signal within the meaning of the present invention is preferably a means of information transmission, a (modulated) wave, a bit sequence, a packet in the information technology sense, or the like. In particular, one or more pieces of information are assigned to and / or contained in a signal, which can be transmitted by means of the signal.

[0111] The communication device 4 preferably comprises a receiver for receiving a signal, a transmitter for sending a signal and / or an interface, in particular a radio interface, a WPAN interface, a near field communication interface, an NFC interface, a WLAN interface or another, particularly preferred, wireless interface.

[0112] As in Fig. 1 Indicated by dashed lines, both direct communication between cleaning device 1 and external database D and indirect communication via communication device E are possible. It is also possible that database D forms part of communication device E.

[0113] The cleaning device 1 can also communicate via a base station (not shown).

[0114] A base station is a preferably stationary device for connecting and / or maintaining the cleaning device 1, in particular for vacuuming or emptying the cleaning device 1 and / or charging it electrically, preferably with the cleaning device 1 automatically moving to the base station for this purpose. The base station can also be configured for data exchange with the cleaning device 1. It can be provided that the cleaning device 1 communicates only directly with the base station, and the base station may communicate with other external devices or systems, such as the communication device E. A database D can also be provided in the base station.

[0115] Preferably, a user can control the cleaning device 1 using the communication device E, for example, to start a cleaning process, and / or retrieve status information from the cleaning device 1, for example, a battery level.

[0116] Communication is preferably conducted via a remote connection, such as the Internet.

[0117] Fig. 2A Figure 1 shows a schematic side view of the front section of the cleaning device 1 in normal operating condition or during cleaning. The direction of travel R is also indicated here with an arrow (in the Fig. 2A To the right).

[0118] The cleaning device 1 preferably has a base plate 11. The base plate 11 preferably forms the underside or the side of the cleaning device 1 facing the cleaning surface F and / or extends at least substantially parallel to the cleaning surface F. The base plate 11 preferably forms part of the housing 2.

[0119] A gap, slot, free space, or opening H is formed between the cleaning device 1, in particular the base plate 11, and the cleaning surface F.

[0120] In other words, the cleaning device 1 is spaced away from the cleaning surface F in certain areas, particularly at the front or in a front section / area or at / with the front.

[0121] The opening H preferably extends at least to the intake opening 7.

[0122] Preferably, the opening H is dimensioned such that objects OA to be collected, such as dirt or dust, can pass through the opening H to the suction opening 7 or fit under the cleaning device 1, in particular the base plate 11, or can be driven over by the cleaning device 1 - at least up to the suction opening 7.

[0123] The opening height, i.e., the (vertical) distance between the cleaning device 1, in particular the base plate 11, and the cleaning surface F, can vary, in particular decreasing or tapering towards the rear or towards the suction opening 7, as shown in Fig. 2A depicted.

[0124] It is possible that the cleaning device 1 only touches the cleaning surface F with its wheels 3. In this case, the opening H preferably extends completely underneath the cleaning device 1. However, it is possible, and may be preferable, that a (rear) part of the cleaning device 1 rests on the cleaning surface F. This is the case, for example, with a mopping robot or a vacuuming / mopping robot that has a mopping cloth which rests on or is pulled across the cleaning surface F.

[0125] The opening H is preferably designed as a slit or a slit.

[0126] The opening H is particularly preferred if it can be reduced in size, at least in some areas.

[0127] A reduction in the opening H preferably means that the opening H is reduced in at least one dimension, in particular in its (clear) height.

[0128] In particular, reducing the size of the opening H reduces the distance between a part of the cleaning device 1 and the cleaning surface F that defines the opening H. Generally, it is also possible to reduce the width of the opening H.

[0129] The reduction of the opening H can occur over its entire extent or only in certain areas, particularly in a front area or an area that is close to or directly adjacent to the front.

[0130] The cleaning device 1 preferably has a sliding part 12, which is designed or provided in particular for (as required) reducing the size of the opening H.

[0131] The sliding part 12 preferably extends at least substantially vertically or transversely, in particular at least substantially perpendicularly, to the cleaning surface F.

[0132] The sliding part 12 particularly preferably limits the opening H in a front area of ​​the cleaning device 1 upwards.

[0133] The sliding part 12 is preferably (temporarily) retractable or movable in a vertical direction or in the direction of the cleaning surface F or along its longitudinal extent.

[0134] Fig. 2A Figure 1 shows the sliding part 12 in the raised position. The raised position is preferably the normal position that the sliding part 12 assumes during a cleaning process.

[0135] Fig. 2B bis 2D Figure 1 shows the sliding part 12 in the lowered position. The lowered position is preferably adopted to allow the cleaning device 1 to move a sliding object Ov, in Fig. 2B This is exemplified by a sock, which can be moved and / or when the cleaning device 1 approaches an unknown object. This will be explained in more detail below using the proposed procedure according to... Fig. 8 explained.

[0136] The Figuren 2B bis 2D This shows the interactions of the cleaning device 1 with various objects, namely a displacement object Ov ( Fig. 2B ), an object to be recorded OA ( Fig. 2C ) and an object to be bypassed Ou ( Fig. 2D These interactions will be described in more detail below using the proposed procedure according to Fig. 8 explained.

[0137] The sliding part 12 is preferably able to be raised again from the lowered position or moved away from the cleaning surface F in a (vertical) direction.

[0138] The sliding part 12 is preferably arranged in front of the intake opening 7 or between the outlet opening 7 and the front of the cleaning device 1.

[0139] Preferably, the sliding part 12 is arranged, in particular directly, behind the bumper 10 and / or, in particular, directly in front of the housing 2 or the base plate 11. Particularly preferably, the sliding part 12 is arranged between the bumper 10 and the base plate 11.

[0140] In the raised position, the end of the sliding part 12 facing the cleaning surface F is preferably arranged approximately at the level of the underside of the cleaning device 1 or housing 2 and / or at the level of the base plate 11 or above it. In other words, the distance between the sliding part 12 and the cleaning surface F in the raised position is at least approximately as large as the (smallest) distance between the underside or base plate 11 and the cleaning surface F.

[0141] In the illustration example according to Fig. 2A The sliding part 12 ends above the underside or base plate 11. Figuren 6 und 7 The figures show, by way of example, the case in which the sliding part 12 ends approximately at the level of the underside or base plate 11.

[0142] In the lowered position, the distance between sliding part 12 and cleaning surface F is reduced compared to the raised position; consequently, the opening H (in the area of ​​sliding part 12) is smaller, as shown in Fig. 2B bis 2D depicted.

[0143] The distance between the sliding part 12 and the cleaning surface F is preferably at least twice as large in the raised position as in the lowered position. Particularly preferably, the distance between the sliding part 12 and the cleaning surface F in the raised position is at least 1 cm or 3 cm.

[0144] The sliding part 12 is preferably plate-like and / or extends along the front of the cleaning device 1 or housing 2, preferably at least substantially across the entire width of the front (extension in the horizontal direction in the normal operating position or during the cleaning process). This is particularly advantageous in Fig. 3 Figure 12 shows a front view of the sliding part 12 in the lowered position, with the bumper 10 in front of the sliding part 12 shown as a dashed line.

[0145] In the illustrated example, the sliding part 12 is at least essentially straight or uncurved. However, particularly in the case of a cleaning device 1 with a curved front and / or a curved bumper 10, the sliding part 12 can also be curved accordingly.

[0146] Preferably, the sliding part 12 has a rigid or harder section 12A and a flexible / elastic or softer section 12B. In principle, however, it is also possible to design the entire sliding part 12 to be rigid or flexible.

[0147] The flexible section 12B is the lower section of the sliding part 12 (in the normal operating position or during cleaning), i.e., the section facing the cleaning surface F. Correspondingly, the rigid section 12A is the upper section of the sliding part 12, i.e., the section facing away from the cleaning surface F.

[0148] The flexible section 12B can preferably bend or move away, especially when it comes into contact with an object, particularly an object OA to be picked up. This is exemplified in Fig. 2C As shown. If an object is small enough, it can pass through the lowered sliding part 12, get behind the sliding part 12, or be driven over by the cleaning device 1, in particular to be picked up / suctioned by the cleaning device 1 or the suction opening 7.

[0149] In the Figuren 2A bis 2D and 3 In the example shown, the flexible section 12B is preferably designed as a sealing lip and / or consists of an elastomer or has an elastomer. Fig. 3 This example shows that the flexible section 12B can be formed from several segments – here, four segments. However, it is also possible for the flexible section 12B to be continuous, a single piece, or unsegmented.

[0150] Fig. 4 Figure 1 shows an alternative embodiment of the sliding part 12, which preferably differs only in its flexible section 12B. Here, the flexible section 12B is designed as a bristle strip or has a plurality of (flexible) bristle filaments or bristle tufts. In this embodiment, objects that are small enough can pass through the sliding part 12, possibly even between the bristles. Otherwise, the same features and explanations preferably apply as for the sliding part 12 with a sealing lip or other flexible section 12B.

[0151] The sliding part 12 is preferably connected to a drive 14, in particular a motor, or has a corresponding connection 12C for a drive 14. The drive 14 is preferably arranged in the housing 2. The sliding part 12 can preferably be lowered and / or raised by means of the drive 14.

[0152] In the Figuren 2A-2D , 3 und 4 Connection 12C is only indicated very schematically, and drive 14 is not shown. Two examples of drive 14 will be described in more detail below with reference to the Fig. 6 und 7 explained in more detail.

[0153] The sliding part 12 is preferably guided in a slidable manner, in particular on the rigid section 12A.

[0154] Preferably, the sliding part 12, in particular the rigid section 12A, has a guide slot or guide groove 12D. The cleaning device 1 preferably has a corresponding guide element 13, such as a pin or stud, which engages in the guide groove 12D. This preferably achieves positive guidance. In the illustrated example, the guide element 13 projects from the housing 2. However, it is also possible, for example, to provide the guide element 13 on the bumper 10.

[0155] Multiple guide grooves 12D and / or guide elements 13 can also be provided; in the illustrated example, preferably two guide grooves 12D and two guide elements 13, as shown in Fig. 3 und Fig. 4 shown. It is also possible that several guide elements 13 engage in a common guide groove 12D.

[0156] The guide groove(s) 12D is / are preferably at least substantially S-shaped, as shown in Fig. 3 und Fig. 4 This is shown. This facilitates a defined lowering of the sliding part 12.

[0157] Conversely, it is also possible that the sliding part 12 has one or more guide elements which engage in one or more corresponding guide grooves of the cleaning device 1, in particular of the housing 2 and / or bumper 10.

[0158] Fig. 5 Figure 12 schematically shows another embodiment of the sliding part. Only the essential differences are described below. The preceding explanations apply preferably accordingly or additionally, unless explicitly stated otherwise.

[0159] The sliding part 12 in the embodiment according to Fig. 5 is preferably rotatably mounted or has a pivot joint 12E. In particular, the sliding part 12 is rotatable or pivotable about the pivot joint 12E.

[0160] In the lowered position, the sliding part 12 preferably extends at least substantially vertically or at least substantially perpendicular to the cleaning surface F.

[0161] If objects OA to be picked up collide with the sliding part 12 in the lowered position, this part can pivot backwards and allow the object OA to pass through, as shown in Fig. 5 is shown as a dashed line.

[0162] In this embodiment, the sliding part 12 is preferably completely rigid or has no flexible section 12B. Objects OA to be picked up can be passed through by pivoting, so that flexibility of the sliding part 12 is not necessary for this purpose.

[0163] The raised position is preferably the position in which the sliding part 12 is pivoted in such a way that the opening H is completely released, in particular the position in which the sliding part 12 extends substantially horizontally or parallel to the cleaning surface F.

[0164] The sliding part 12 is preferably foldable up into the raised position or foldable away and / or foldable down into the lowered position.

[0165] Preferably, the sliding part 12 is held in the raised / folded-up position during normal operation. The sliding part 12 is preferably only moved into the lowered / folded-down position to move a moving object Ov.

[0166] Alternatively or additionally, the sliding part 12 can also be used according to the embodiment in Fig. 5 The sliding section 12 should be vertically or longitudinally adjustable for height and height. Preferably, the sliding section 12 has an upper rigid section 12A and a lower rigid section, which are connected to each other via the pivot joint 12E. Instead of the flexible section 12B, a further rigid section is provided, which is rotatably mounted. The rotatable mounting allows the lower section to achieve a similar function or effect to that of the flexible section 12B, in particular the passage of objects OA even when the sliding section 12 is lowered. The upper rigid section 12A is preferably not rotatably mounted and / or can be guided as described above.

[0167] In the illustration example according to the Figuren 2B bis 5 Even in the lowered position, a (small) gap is still provided between the sliding part 12 and the cleaning surface F, in particular of more than 0.1 cm and / or less than 1 cm. However, it is also possible and may be preferable to lower the sliding part 12 completely so that it touches the cleaning surface F, especially if it has the flexible section 12B. In this sense, "reducing the opening H" also includes closing the opening H. It should be taken into account that, due to the flexibility of the flexible section 12B, objects OA can still pass through the sliding part 12, meaning that the opening H is not completely closed.

[0168] In alternative embodiments (not shown), the sliding part 12 can also be arranged at other locations on the cleaning device 1. For example, the sliding part 12 could be integrated into the base plate 11 and lowered or folded down from it. Furthermore, the sliding part 12 could also be lowered or folded down in front of the bumper 10, similar to an excavator bucket. It is also conceivable to provide several sliding parts 12, preferably individually controllable, at different locations on the cleaning device 1.

[0169] In further alternative embodiments (not shown), additionally or alternatively to the sliding part 12, other parts of the cleaning device 1 can be lowered, in particular the bumper 10 and / or – at least partially – the base plate 11. In particular, the opening H could also be reduced in size by lowering the bumper 10 and / or the base plate 11. In such embodiments, a separate sliding part 12 can also be dispensed with entirely, or the lowerable part, in particular the bumper 10 and / or the base plate 11, can assume the function of a sliding part or can form or include the sliding part 12.

[0170] Fig. 6 und Fig. 7 The figures schematically show two examples of how a drive 14 for the sliding part 12 can be implemented. In principle, however, other drives 14 are also conceivable.

[0171] In Fig. 6 A cable pulley with motor drive is provided for raising or lowering the sliding part 12.

[0172] The drive 14 or cable pull preferably comprises a cable 15, a cable drum 16, an (electric) motor 17 and / or a worm gear 18.

[0173] The rope drum 16, the motor 17 and / or the worm gear 18 are preferably arranged in the housing 2.

[0174] The rope 15 is attached at one end to the sliding part 12, in particular its connection 12C. At its other end, the rope 15 is preferably attached to the rope drum 16.

[0175] The rope 15 is preferably attached centrally (with respect to its horizontal extent) to the sliding part 12 or its connection 12C. This is also shown in the Figuren 3 und 4 indicated, which show the 12C connection in the center.

[0176] In the Fig. 6 In the raised position of the sliding part 12 shown, the rope 15 is wound onto the rope drum 16.

[0177] The rope drum 16 is connected to the motor 17 via the worm gear 18.

[0178] Preferably, the worm gear 18 is designed to be self-locking. This ensures that the cable drum 16 and the sliding part 12, which is connected to the cable drum 16 via the cable 15, preferably remain in their respective positions, i.e., the sliding part 12 remains in the raised position, even when the motor 17 is switched off.

[0179] When the motor 17 is switched on or the cable drum 16 is released, the sliding part 12 moves into the lowered position.

[0180] The movement into the lowered position can be effected by the motor movement and / or the force of gravity acting on the sliding part 12. However, the movement into the lowered position is particularly preferably effected primarily or assisted by spring force.

[0181] Preferably, the sliding part 12 is pre-tensioned into the raised position by means of a spring 19 or is tensioned against the force of the spring 19 into the raised position.

[0182] The spring 19 is preferably provided or tensioned between the sliding part 12 and the bumper 10, in particular compressed in the raised position.

[0183] Preferably several springs 19 are provided, for example four springs 19, which are distributed along the width (horizontal extent or extent along the front) of the sliding part 12, in particular symmetrically to the connection 12C.

[0184] When the motor 17 is switched on or the cable drum 16 is released, the spring 19 or springs 19 can relax and move the sliding part 12, especially jerkily, into the lowered position.

[0185] To bring the sliding part 12 back into the raised position, the rope drum 16 is set in rotation by means of the motor 17, in particular via the worm gear 18, so that the rope 15 winds up again and pulls the sliding part 12 upwards.

[0186] Fig. 7 shows an alternative drive 14 for raising or lowering the sliding part 12.

[0187] In the illustration example according to Fig. 7 The drive 14 is preferably a linear drive with a spindle motor.

[0188] The drive 14 preferably comprises a spindle 20, a linear guide 21, a motor 22 and / or a (spur gear) gearbox 23.

[0189] The linear guide 21 is slidably guided on the spindle 20 and connected to the sliding element 12. The motor 22 can, in particular via the gearbox 23, set the spindle 20 into rotation. The spindle rotation causes the linear guide 21 to move on the spindle 20 and raises or lowers the sliding element 12, depending on the direction of rotation of the spindle 20.

[0190] The following is a proposed procedure based on the one described in Fig. 8 the flowchart shown, as well as the Figuren 2A bis 2D explained in more detail.

[0191] The proposed method is preferably carried out using the cleaning device 1.

[0192] The cleaning device 1, in particular the data processing device 5, is preferably designed to carry out the procedure described herein or individual procedure steps.

[0193] Preferably, commands or the algorithm for executing the proposed procedure or individual procedure steps of the proposed procedure are stored electronically in a (data) storage device of the cleaning device 1, in particular the data processing unit 5, and / or the database D.

[0194] The process is preferably multi-stage or multi-step. In particular, the process comprises several process steps, the individual process steps of which can, in principle, be carried out independently of one another and in any order, unless otherwise explained below.

[0195] The procedure or program routine is preferably initiated by starting or switching on the cleaning device 1 and / or by user input via the communication device E, preferably in a first procedure step S1.

[0196] Preferably, it is subsequently checked, or by means of a (first) branch V1, whether an object is located on the cleaning surface F, in particular on a (planned) travel path on the cleaning surface F, especially preferably by means of one or more (distance) sensors 8, 9.

[0197] In the event that the travel path of the cleaning device 1 is clear or there are no objects on the travel path, the cleaning surface F is preferably cleaned in a further or second process step S2, preferably while continuously checking whether an object is on the cleaning surface or on the travel path.

[0198] The cleaning device 1 preferably performs the cleaning process automatically. In particular, the cleaning device 1 cleans the cleaning surface F (automatically), for example by vacuuming and / or wiping it.

[0199] In process step S2, or during normal operation or cleaning, the sliding part 12 – if present – ​​is preferably in the raised position, in particular as shown in Fig. 2A depicted.

[0200] To clean the cleaning surface F, the cleaning device 1 moves or travels over the cleaning surface F in the direction of travel R, wherein the cleaning device 1 is preferably oriented so that its front and / or opening H points in the direction of travel R.

[0201] Preferably, dirt / dust located on the cleaning surface F is driven over by the cleaning device 1 or passes through the opening H under the cleaning device 1 and is then picked up by it, in particular vacuumed up or wiped away.

[0202] Preferably, the object is located in the direction of travel R or in the (planned) travel path of the cleaning device 1 or in front of the cleaning device 1. In principle, however, it is also possible that the proposed method detects an object that is located elsewhere, in particular outside the (planned) travel path.

[0203] In this context, an "object" refers in particular to an item that is movable or can be located in different places on the cleaning surface F during different cleaning processes, for example a chair, or that is not always or only temporarily or only during this cleaning process on the cleaning surface F, for example clothing.

[0204] Fixed objects, such as walls or cabinets, are preferably not considered objects located on the cleaning area F. Rather, they define or delimit the cleaning area F. Such objects can be taken into account, in particular, through mapping. However, it is also possible, in principle, to apply the proposed procedure to fixed objects.

[0205] An object is preferably detected at a distance or at a certain distance from the cleaning device 1.

[0206] In the event that an object is detected, the detected / detected object is preferably determined, analyzed, identified, and / or classified in a further or third process step S3. For this purpose, the sensor data from sensors 8 and 9 are evaluated using the data processing unit 5.

[0207] For the evaluation of the sensor data, further details, information, values, key figures and / or parameters can be retrieved from the data processing unit 5, in particular from a storage device or database D, as described in Fig. 8 indicated by a dotted line.

[0208] Database D can be located internally within the cleaning device 1, specifically in a memory of the data processing unit 5. Alternatively or additionally, an external database D can be provided, from which the data can be retrieved via the communication unit 4. The external database D can be located in a base station of the cleaning device 1, an external communication unit E such as a smartphone, a (remote) server, and / or other external devices / units. Communication between the cleaning device 1 and the external database D can be direct or indirect, for example, via the external communication unit E and / or the base station.

[0209] Identifying the object can include determining, evaluating, or analyzing its size. In particular, sensor data and, if applicable, other data can be used to determine the object's size, preferably taking into account its distance.

[0210] The term "size" here refers in particular to the height and / or width of the object, specifically the dimensions of the object perpendicular to the direction of travel R. The depth (extent of the object in the direction of travel R) of the object can also be taken into account, provided that sensors 8 and 9 are capable of detecting it.

[0211] In addition to or as an alternative to the size, the shape of the object or the two-dimensional projection of the object (for example, if the sensor data is a camera image) can also be determined.

[0212] Particularly preferred – in addition to or as an alternative to determining size and / or shape – is the identification and / or classification of the detected object. For this purpose, an object recognition algorithm is preferably used, which in particular includes the use of a neural network. An example of such an object recognition algorithm is the open-source algorithm YOLO ( You Only Look Once ) , For example, in version 7 (as of July 2022) or in version 8 (as of January 2023). However, other algorithms can also be used.

[0213] Identification or classification preferably means that the cleaning device 1 determines what kind of object it is, for example, a sock, or at least what object class it is, for example, clothing in the case of a sock. Additionally, a (confidence) value, for example, a percentage, is preferably output, indicating how reliably the object could be identified or classified. Level of Confidence ) .

[0214] After an object has been recognized and preferably further analyzed / identified, it is preferably determined whether the object is movable, in particular by means of a further or second branch V2. Movable objects are subsequently referred to as move objects Ov. Thus, it is determined whether the object is a move object Ov.

[0215] To determine whether the detected object is a displacement object Ov, the sensor data or values ​​derived from it, such as shape, size, object class, object identifier, confidence value, etc., are preferably used. Preferably, further information, values, characteristics, and / or parameters, in particular those retrieved from database D, are used, for example, predefined thresholds or lists.

[0216] For example, the determined size of the object can be compared with one or more threshold values. If the object size, in particular the width and / or height, is below a predefined threshold value, the object is preferably defined as a displacement object Ov, and / or if the object size, in particular the width and / or height, is above a predefined threshold value, the object is defined as an object to be avoided Ou.

[0217] The two aforementioned threshold values ​​can differ. If the object size lies between the threshold values ​​in this case, the object is preferably defined neither as a displacement object (Ov) nor as an object to be circumvented (Ou).

[0218] It is also possible to define a further threshold value that must be exceeded to determine the object as a displacement object Ov. Preferably, only those objects that are neither too small nor too large are determined as displacement objects Ov. Objects that are too small are preferably also determined as objects to be bypassed Ou, but can optionally also be determined as objects to be picked up OA.

[0219] The sensor data, or values ​​derived from it, are preferably compared with a list, table, or matrix, especially a lookup table, to determine whether the object is a movable object (Ov). For example, each object class or object identifier is assigned a value indicating whether the object or object class is movable. Additionally, it can be specified whether the object can be bypassed or driven over if it is not movable. For example, the list could determine whether an object is movable based on its weight.

[0220] Preferably, an object listed as movable is only determined as a move object Ov if the confidence value is above a predefined threshold, for example above 90%.

[0221] The object detection and / or the determination of whether an object can be moved, driven around or driven over is particularly preferably carried out as described in the unpublished European application 23 19 63 60.4, the disclosure of which is hereby incorporated in its entirety by reference into the present application.

[0222] Depending on whether the captured object is a displacement object Ov, different measures or steps are preferably initiated.

[0223] If the object is not a displacement object Ov or has been determined as an object Ou to be bypassed, a further or fourth process step S4 is preferably carried out.

[0224] In process step S4, a new travel path is preferably selected, the direction of travel R is changed, or an evasive maneuver is initiated to bypass the object. In particular, the wheels 3 are controlled accordingly by means of the control unit 6. Preferably, the sliding element 12 remains in the raised position when an object Ou is being bypassed.

[0225] After the object Ou has been bypassed, the cleaning device 1 preferably continues the cleaning in normal operation.

[0226] If the cleaning device 1 cannot determine with sufficient certainty whether it is a moving object Ov or an object Ou to be bypassed, for example because the size is in an intermediate range or the confidence value is too low, a user query can be started in an optional further or fifth procedure step S5.

[0227] Preferably, the cleaning device 1, in particular the communication device 4, sends a request to the user, in particular the user's external communication device E, asking whether the object should be moved or whether it is a movable object Ov. Preferably, a camera image of the object or the like, captured by the cleaning device 1, is sent to the user.

[0228] In an optional further branch V3, the user decides whether it is a displacement object Ov and sends this information to the cleaning device 1.

[0229] If the object has been designated by the user as an object Ou to be bypassed or as an object OA to be picked up, preferably in a further or sixth process step S6 the object is either bypassed as in process step S4 or the travel path is continued with the raised sliding part 12 in order to pick up the object.

[0230] If the object was automatically or by the cleaning device 1 or by the user determined as a displacement object Ov, the cleaning device 1 preferably initiates a displacement maneuver in a further or seventh process step S7.

[0231] Preferably, a displacement maneuver is also initiated if the object could not be reliably determined as the displacement object Ov, as in Fig. 8 This is also represented by corresponding arrows. This can be done directly without a user prompt or process step S5 if these are not planned. However, it can also happen that a user prompt is initiated, but the user remains inactive. In this case, too, the object remains undefined, and a move operation is preferably initiated.

[0232] Alternatively, it is also possible to initiate an evasive maneuver or to drive around the object if it cannot be reliably determined as a displacement object Ov.

[0233] To initiate the shifting maneuver, or in process step S7, the sliding part 12 is preferably lowered or the opening H is reduced in size. For this purpose, the drive 14, in particular the motor 17 or 22, is preferably controlled by the control unit 6.

[0234] The cleaning device 1 then preferably continues its journey in the original direction of travel R or heads towards the object.

[0235] As previously explained, it is also possible to detect an object that is not in the direction of travel R. It can be both intended and advantageous to determine, even for such objects, whether they are a displacement object Ov and, if so, to initiate a displacement maneuver. In this case, the cleaning device 1 changes its direction of travel R to move towards the displacement object Ov in order to move it.

[0236] During the moving maneuver or in process step S7, the cleaning device 1 preferably moves towards the object until it touches the object with the bumper 10.

[0237] Preferably, the cleaning device 1 then detects or checks in a further branch V4 whether the bumper 10 shifts or is triggered.

[0238] As explained at the outset, the bumper 10 is preferably spring-mounted and / or designed as a push button. In particular, the springs define or set a specific force that must be applied to move, actuate, or trigger the bumper 10.

[0239] Fig. 2A This shows the case where the bumper 10 is not moved or triggered when the cleaning device 1 moves against the object. In this case, the object is preferably a movable object Ov, shown here as an example of a sock.

[0240] Fig. 2D Figure 1 shows the case where the bumper 10 is moved or triggered / actuated when the cleaning device 1 moves against the object. In this case, the object is preferably an object Ou to be circumvented. This case can occur if the object was previously incorrectly identified as a displacement object Ov, or if it could not be reliably determined whether it was a displacement object Ov, but the displacement maneuver was initiated nonetheless.

[0241] If the bumper 10 is triggered, the cleaning device 1 preferably aborts the shifting maneuver and instead initiates an evasive maneuver according to process step S4. Preferably, the sliding part 12 is returned to its raised position. Since the cleaning device 1 is located directly in front of the object Ou to be avoided in this case, the evasive maneuver can also include a temporary reversing of the cleaning device 1.

[0242] The bumper 10 is preferably triggered when the impact against the object overcomes the spring force of the bumper 10. This is particularly the case when the object is too heavy to be moved.

[0243] It is particularly advantageous to use the spring force to adjust the weight at which the bumper 10 triggers or an evasive maneuver is initiated.

[0244] The bumper 10 is therefore preferably used to further determine whether the object is a displaceable object Ov or to verify whether the previous determination was correct. The determination using the bumper 10 is preferably based on the weight of the object.

[0245] If the bumper 10 does not trigger, this can preferably be due to two reasons. Either the object is actually a displacement object Ov, which does touch the bumper 10 but is light enough so that it does not trigger, or the object is a pick-up object OA that has a lower height than the bumper 10. This is in Fig. 8 This is represented as a further branch V5, in which it is determined whether the object is an object OA to be recorded.

[0246] If the object is an object OA to be picked up, it is preferably picked up by the cleaning device 1 in a further or eighth process step S8, in particular vacuumed up.

[0247] The case where the object is an object to be recorded (OA) is in Fig. 2C and Fig. 5 depicted.

[0248] Preferably, the object OA can also reach behind the reduced opening H or lowered sliding part 12, particularly towards the intake opening 7. In particular, the flexible section 12B of the sliding part 12 bends, as shown in Fig. 2C shown, or the sliding part 12 folds away, as shown in Fig. 5 depicted.

[0249] This can occur if object OA was previously incorrectly identified as a displacement object Ov, or if it could not be reliably determined whether it was a displacement object Ov, but the displacement maneuver was initiated nonetheless. It can also occur, in particular, if object OA was not detected at all, but a displacement maneuver was initiated anyway, or if the sliding part 12 is nevertheless in the lowered position, for example, because a displacement object Ov was detected behind object OA.

[0250] If the object is not an object to be recorded OA, or if the object is actually a displacement object Ov, the displacement object Ov is preferably moved in a further or ninth process step S9.

[0251] For this purpose, the cleaning device 1, preferably at a constant speed, moves against the object to be moved Ov and thus moves it to another location. This is in Fig. 2B depicted.

[0252] As mentioned at the beginning, individual process steps can preferably be carried out independently of each other and / or in a different order and / or omitted.

[0253] For example, the determination of whether an object is a displacement object Ov could also be made exclusively by user input (branch V3) or exclusively by means of the bumper 10 (branch V5). Consequently, the determination described in connection with branch V2 could potentially be omitted. Likewise, it is also possible to forgo the determination by user query and / or bumper 10. It is also possible, for example, to design the sliding part 12 to be completely rigid and without a pivot joint 12E, so that branch V5 would then be eliminated.

[0254] In the Fig. 9A bis 9D An alternative displacement maneuver according to the proposed procedure is shown. Unless explicitly stated otherwise, the preceding statements and explanations preferably apply accordingly, even if repetition is omitted. In particular, the determination of whether a captured object is a displacement object Ov can be carried out as previously described in connection with Fig. 8 described, in particular by evaluating the data recorded by sensors 8, 9 and / or user input.

[0255] In a first step of the alternative displacement maneuver, the cleaning device 1 preferably moves to a certain distance in the usual direction of travel R or orientation towards a displacement object Ov that has preferably been previously detected or determined as such.

[0256] In general, it is also possible for the cleaning device 1 to first move up to the object to be moved Ov, in particular to check whether the bumper 10 is triggered, if provided.

[0257] In a further step, which in Fig. 9B und 9C As shown, the cleaning device 1 preferably changes its orientation or rotates on its own axis. After the cleaning device 1 has rotated, its opening H preferably points in a different direction than before, in particular no longer in the direction of the displaced object Ov.

[0258] In the illustrated example, the cleaning device 1 preferably rotates by at least substantially 180°.

[0259] After the cleaning device 1 has changed its orientation or rotated, preferably a lower sliding section 24 of the cleaning device 1, in particular of the housing 2, points in the direction of the displaced object Ov or in the (original) direction of travel R.

[0260] The sliding section 24 is particularly in Fig. 1 This is preferably an external section of the cleaning device 1, in particular of the housing 2, which has a smaller distance to the cleaning surface F than the front area or the front of the cleaning device 1. In particular, an opening formed between the sliding section 24 and the cleaning surface F is smaller than the opening H.

[0261] In the illustrated example, the sliding section 24 is preferably located at the rear of the cleaning device 1 or is formed by the rear.

[0262] In a further process step, the cleaning device 1 preferably continues its journey in the original direction of travel R – in particular in the direction of the object being moved Ov – but with a changed orientation, in particular with the sliding section 24 oriented in the direction of travel R or towards the object being moved Ov. This is shown in Fig. 9C und 9D depicted.

[0263] In the illustrated example, the cleaning device 1 preferably travels backwards or with the opening H oriented against the direction of travel R.

[0264] The cleaning device 1 then preferably moves with the sliding section 24 against the object to be moved Ov and moves it, as shown in Fig. 9D depicted.

[0265] In this embodiment, the sliding section 12 or any other lowerable part of the cleaning device 1 can be omitted. Instead of reducing the opening H, the opening H is (temporarily) moved away from the direction of travel R, and a lower sliding section 24 (with a smaller opening) is oriented in the direction of travel R. Therefore, reducing the opening H is unnecessary. However, it can also be provided and advantageous to include both a lowerable sliding section 12 and a sliding section 24, and optionally, depending on the object being moved Ov, to move the object Ov either by means of the lowered sliding section 12 or the sliding section 24 oriented in the direction of travel R.

[0266] Individual aspects, features and process steps or variants of the present invention can be implemented independently of one another, but also in any combination and / or sequence. Bezugszeichenliste:

[0267] 1 Cleaning device 2 Housing 3 Wheels 4 Communication device 5 Data processing device 6 Control device 7 Suction opening 8 First sensor 9 Second sensor 10 Bumper 11 Base plate / underside 12 Sliding part 12 A Rigid / harder section 12 B Flexible / softer section 12 C Connection 12 D Guide groove 12 E Swivel joint 13 Guide element 14 Drive 15 Cable 16 Cable drum 17 Motor 18 Worm 19 Spring 20 Spindle 21 Linear guide 22 Motor 23 Gearbox 24 Sliding section D Database E External communication device F Floor / cleaning surface H Opening R Direction of travel OA Object to be picked up Ouzu Object to be bypassed Ov Moving object S (1-8) Process step V (1-4) Branch

Claims

1. Method for operating a self-propelled cleaning device (1) for cleaning a cleaning surface (F), wherein an opening (H) is formed between the cleaning device (1) and the cleaning surface (F), which points in the direction of travel (R), and wherein the cleaning device (1) carries an object (O A , Ou, Ov) on the cleaning surface (F) detects, characterized by that is determined to be the object (O A , Ou, Ov) is a displacement object (Ov) to be moved, wherein the opening (H) is reduced in order to move the displacement object (Ov), and / or wherein the cleaning device (1) changes its orientation so that a lower sliding section (24) of the cleaning device (1) points in the direction of travel (R) in order to move the displacement object (Ov) with the sliding section (24).

2. Method according to claim 1, wherein the clear height (L) is reduced to reduce the size of the opening (H).

3. Method according to claim 1 or 2, wherein a part of the cleaning device (1) is lowered to reduce the size of the opening (H).

4. Method according to one of the preceding claims, wherein a sliding part (12) of the cleaning device (1) is lowered to move the moving object (Ov) by means of the sliding part (12).

5. Method according to claim 4, wherein the cleaning device (1) or sliding part (12) is designed according to one of claims 11 to 15.

6. Method according to one of the preceding claims, wherein the sliding section () is formed at the rear of the cleaning device (1) and the cleaning device (1) moves backwards to move the sliding object (Ov).

7. Method according to one of the preceding claims, wherein it is determined automatically or by user input that the object (O A , Ou, Ov) is a displacement object (Ov).

8. Method according to claim 7, wherein the object (O A, Ou, Ov) is identified or classified and compared with a list stored in memory to determine whether it is a move object (Ov).

9. Method according to any one of the preceding claims, wherein the provision that the (O A , Ou, Ov) is a displacement object (Ov), based on the size and / or weight of the object (O A , O U , Ov) is based.

10. Method according to one of the preceding claims, wherein the cleaning device (1) has a bumper (10) and the bumper (10) is used against the object (O A , O U , Ov) moves to determine whether it is a displacement object (Ov).

11. Self-propelled cleaning device (1) for cleaning a cleaning surface (F), characterized by that the cleaning device (1) is designed to carry out a method according to one of the preceding claims, and / or thatthe cleaning device (1) has a sliding part (12) which can be automatically lowered to move a moving object (Ov) by means of the sliding part (12).

12. Cleaning device according to claim 11, wherein the sliding part (12) is arranged behind a bumper (10) of the cleaning device (1), in particular between the bumper (10) and a base plate (11) of the cleaning device (1).

13. Cleaning device according to claim 11 or 12, wherein the sliding part (12) has a harder section (12A) on which it is slidably guided, and a softer section (12B), in particular a sealing lip or a bristle strip.

14. Cleaning device according to one of claims 11 to 13, wherein the cleaning device (1) has a, in particular spring-mounted, bumper (10) which is designed as a button such that it triggers when the cleaning device (1) with the bumper (10) comes into contact with an object (O A, Ou, Ov) is moving, which is not a moving object (Ov) or an object to be bypassed (Ou).

15. Cleaning device according to one of claims 11 to 14, wherein the sliding part (12) is rotatably mounted and / or is pre-tensioned in a raised position against a spring (19), preferably wherein the sliding part (12) is held in the raised position or can be pulled into the raised position by means of a cable pull with motor drive.

Images